A robotic vacuum suction polishing device

Abstract

The application discloses a kind of robot vacuum adsorption polishing device, including support base, rotary turntable assembly, rotary joint, hollow shaft and vacuum adsorption disc;Support base is set on robot workbench, rotary turntable assembly is set on support base, vacuum adsorption disc is set on rotary turntable assembly, one end of hollow shaft is located in support base and is communicated with rotary joint, another end of hollow shaft is sequentially penetrated support base and the top of rotary turntable assembly and is communicated with vacuum adsorption disc;The application will vacuum adsorption channel be integrated in coaxial arrangement rotary joint, hollow shaft, vacuum adsorption disc inside, negative pressure airflow is circulated along central axis, hollow shaft top end circumferential evenly distributed negative pressure air hole, vacuum suction evenly transfer to vacuum adsorption disc surface, workpiece everywhere adsorption force is balanced, vacuum adsorption channel built-in integration, direct-drive gapless rotation, multiple sealing air leakage prevention, modular independent disassembly and maintenance, improve polishing yield and reduce clamping workpiece time.

Description

Technical Field

[0001] This invention belongs to the technical field of industrial robot surface polishing equipment, specifically to a robot vacuum adsorption polishing device. Background Technology

[0002] With the popularization of intelligent manufacturing automated production lines, industrial robots are widely used in various precision workpiece grinding and mirror polishing processes. The polishing process requires stable fixation of the workpiece, so robot end effectors are generally equipped with vacuum adsorption structures. Currently, similar robot vacuum polishing turntables on the market have many inherent defects: 1. Low equipment integration and numerous potential vacuum leakage hazards: Traditional adsorption polishing mechanisms separate vacuum pipelines and rotary drive units, resulting in a large number of external pipeline joints. Each pipeline connection point carries the risk of air leakage. After long-term use, the vacuum level continuously decreases, the workpiece adsorption force becomes unstable, and workpieces are prone to shifting or falling off during high-speed rotary polishing, directly affecting the workpiece polishing dimensional accuracy and surface finish yield.

[0003] 2. Poor dynamic sealing performance and cumbersome maintenance: The existing rotary ventilation structure relies solely on ordinary O-rings to achieve dynamic sealing between the rotating spindle and the fixed base. The sealing rings are subjected to continuous rotational friction for a long time, resulting in rapid wear. Furthermore, replacing worn sealing rings requires the complete disassembly of the turntable, hollow shaft, and base components, which is a complex disassembly and assembly process. This leads to long downtime for equipment maintenance and significantly reduces the uptime of automated production lines.

[0004] 3. Transmission has gaps and large vibrations, resulting in poor polished surface quality: Existing rotary drive structures mostly use intermediate transmission pairs such as synchronous belts, gears, and worm gears. The transmission mechanism has inherent gaps and elastic vibrations. When polishing at high speed, the workpiece shakes continuously, and the workpiece surface is very prone to ripples and irregular scratches, which cannot meet the production requirements of high-precision mirror polishing. At the same time, the vibration generated by the transmission structure will be directly transmitted to the workpiece, further deteriorating the polishing effect.

[0005] Fourth, insufficient modularity and poor versatility: Traditional equipment integrates vacuum adsorption plate, rotary ventilation structure and drive turntable into one unit. If it is necessary to adapt to workpieces of different sizes and irregular shapes, the entire end effector must be replaced. The equipment has poor versatility and high cost of spare parts procurement and maintenance.

[0006] A search of existing patent literature reveals that CN221911401U discloses a grinding turntable robot base that combines vacuuming and rotary drive structures. While it integrates a vacuum ventilation channel, the toothed belt drive suffers from gaps and significant wear. Furthermore, the dynamic seal uses only ordinary O-rings, making it prone to leakage during long-term rotation. Additionally, the internal cavity is sealed, requiring complete disassembly of the entire machine for maintenance of the seals and ventilation shaft. Vacuum adsorption devices such as CN101846128B, CN101793280B, and CN108059076B only possess static adsorption and fixation functions, lacking rotary polishing drive capabilities and thus unsuitable for dynamic robotic polishing operations.

[0007] Therefore, there is an urgent need for an integrated vacuum adsorption and polishing device that is compact in structure, reliably sealed, has good vacuum adsorption effect, and stable transmission. Summary of the Invention

[0008] In view of this, the purpose of this invention is to overcome the shortcomings of the prior art and provide a robotic vacuum adsorption polishing device. This application provides the following technical solution: A robotic vacuum adsorption polishing device includes a support base, a rotary table assembly, a rotary joint, a hollow shaft, and a vacuum adsorption disk. The support base is mounted on the robot workbench, the rotary table assembly is mounted on the support base, the vacuum adsorption disk is mounted on the rotary table assembly, one end of the hollow shaft is connected to the air passage of the rotary joint, and the other end of the hollow shaft is connected to the air passage of the vacuum adsorption disk, so as to form a built-in vacuum negative pressure channel between the rotary joint and the vacuum adsorption disk.

[0009] As a preferred or supplementary component of the aforementioned robotic vacuum adsorption polishing device, the support base includes a lower base support and an upper base. The lower base support is disposed on the robot worktable, and the upper base is fixedly installed above the lower base support. The rotary table assembly is disposed on the upper base. One end of the hollow shaft is located inside the lower base support, and the other end of the hollow shaft passes through the lower base support, the upper base, and the top of the rotary table assembly in sequence.

[0010] As a preferred or supplementary option to the aforementioned robotic vacuum adsorption polishing device, a deep groove ball bearing is also included, which is sleeved on the hollow shaft and assembled and fixed with the lower base support.

[0011] As a preferred or supplementary component of the aforementioned robotic vacuum adsorption polishing device, the rotary table assembly includes a turntable and a table surface. The turntable is mounted on the support base, the table surface is rotatably mounted on the turntable, and the vacuum adsorption disk is mounted on the table surface. The end of the hollow shaft passes through the top of the support base, the turntable, and the table surface in sequence and communicates with the vacuum adsorption disk. The hollow shaft is fixedly connected to the table surface by bolts.

[0012] As a preferred or supplementary option to the aforementioned robotic vacuum adsorption polishing device, the turntable is a hollow direct-drive motor, with the interior of the turntable hollow for the hollow shaft to pass through, and the motor rotor of the hollow direct-drive turntable fixedly connected to the table surface.

[0013] As a preferred or supplementary option to the aforementioned robotic vacuum adsorption polishing device, the rotary joint is a pneumatic rotary joint, and the rotary joint is threadedly connected to the end of the hollow shaft.

[0014] As a preferred or supplementary option to the aforementioned robotic vacuum adsorption polishing device, the top outer wall of the hollow shaft is provided with several negative pressure ventilation holes along the circumference, and the negative pressure ventilation holes are respectively connected to the internal cavity of the hollow shaft.

[0015] As a preferred or supplementary feature of the aforementioned robotic vacuum adsorption polishing device, the bottom of the vacuum adsorption disk is provided with an annular sealing groove, and an O-ring is fitted inside the annular sealing groove. The bottom of the vacuum adsorption disk is fixed to the rotary table assembly by an expansion sleeve. An O-ring is provided between the rotary table assembly and the support base, and an O-ring is also provided between the hollow shaft and the rotary table assembly.

[0016] As a preferred or supplementary option to the aforementioned robotic vacuum adsorption polishing device, a double-layered self-locking washer is provided between the rotary joint and the hollow shaft.

[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: This invention integrates the entire vacuum adsorption channel into a coaxially arranged rotary joint, hollow shaft, and vacuum adsorption disk. Negative pressure airflow flows along the central axis, and negative pressure vents are evenly distributed around the top circumference of the hollow shaft. Vacuum suction is evenly transmitted to the entire surface of the vacuum adsorption disk, resulting in balanced adsorption force across the workpiece. Stable force is maintained during rotary polishing, preventing localized warping or shifting. At the same time, the externally distributed vacuum pipelines are eliminated, significantly reducing the number of pipeline joints and minimizing the risk of vacuum leakage. The entire device has a compact structure, occupies less installation space at the robot end effector, and is suitable for polishing scenarios in confined spaces. Meanwhile, the rotary table assembly of this invention uses a hollow direct-drive rotary table, eliminating intermediate transmission pairs such as synchronous belts, gears, and worm gears, thus eliminating transmission gaps and vibrations. It is equipped with precision deep groove ball bearings to support the hollow shaft, ensuring coaxiality of the hollow shaft rotation. This prevents workpiece vibration during polishing, avoiding polishing ripples and scratches on the workpiece surface, and meeting the requirements for high-precision mirror polishing production. The hollow design of the direct-drive rotary table does not interfere with the arrangement of the hollow shaft's ventilation channels, resulting in an integrated structural layout. A standard pneumatic rotary joint at the bottom of the hollow shaft serves as a dynamic-static air path conversion component, maintaining stable vacuum negative pressure even under continuous 360° rotation of the rotary table. The rotary joint is threadedly connected to the hollow shaft, allowing for individual replacement simply by unscrewing the joint, without disassembling core components such as the base and rotary table, significantly reducing the time required for seal replacement. Furthermore, this invention features multiple independent sealing structures: O-rings are provided between the support base and the rotary table assembly, between the hollow shaft and the rotary table, and in the annular groove at the bottom of the vacuum adsorption disk. These, along with the self-sealing rotary joint and double-layered self-locking washers at the threaded connection, form multiple layers of airtight protection both above and below, inside and outside. Even if a single sealing element is slightly worn, the remaining sealing structures can still maintain the vacuum level of the equipment, significantly reducing the probability of workpieces falling off during the polishing process. Secondly, the vacuum adsorption plate is quickly locked onto the table by the expansion sleeve, and different specifications of adsorption plates can be quickly replaced according to the size and shape of the workpiece; the rotary joint and deep groove ball bearing are standard universal parts that can be disassembled and replaced individually; the base, turntable and ventilation shaft are assembled in layers, and the corresponding modules can be disassembled individually during maintenance without disassembling the whole machine, resulting in low equipment maintenance costs and short downtime.

[0018] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0021] Figure 2 This is a cross-sectional structural diagram of the present invention.

[0022] Reference numerals: 1-Support base; 2-Turntable; 3-Tabletop; 4-Rotary joint; 5-Hollow shaft; 6-Vacuum adsorption plate; 7-Deep groove ball bearing; 8-Negative pressure vent. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0024] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] like Figure 1 and Figure 2 The diagram shows the structure of the present invention. The present invention provides a robotic vacuum adsorption polishing device, the main body of which consists of a support base 1, a rotary table assembly, a rotary joint 4, a hollow shaft 5, a vacuum adsorption disk 6, and a deep groove ball bearing 7. The support base 1 is the basic support component of the entire device, which is fixedly installed on the workbench or the ground. The support base 1 is divided into a lower base support seat and an upper base. The lower base support seat is a circular base made of aluminum alloy, with mounting holes at the bottom, and is fixed to the robot workbench by bolts. An air source interface is reserved on the outside of the lower base support seat for connecting to the external vacuum generator pipeline. The upper surface of the lower base is a precision-machined plane to ensure flat contact with the upper base. The upper base is horizontally fixed to the upper surface of the lower base support seat with screws, and is used to support the rotary table and install rotating components. The upper base is a square base made of aluminum alloy, with a through hole in the center for the hollow shaft 5 to pass through.

[0027] A rotary turntable assembly is installed on the top of the upper base. The rotary turntable assembly includes a turntable 2 and a table 3. The turntable 2 is fixedly installed on the upper end face of the upper base. The turntable 2 is a hollow direct drive turntable with a hollow channel reserved inside for the hollow shaft 5 to pass through. There are no intermediate transmission structures such as timing belts or gears. After being powered on, it directly drives the table 3 to achieve 360° rotation. The table 3 is horizontally mounted above the turntable 2. A through hole is opened in the center of the table 3 for the hollow shaft 5 to pass through. O-rings are installed between the mating end face of the turntable 2 and the upper base, and between the hollow shaft 5 and the through hole of the table 3 to block the air leakage channel.

[0028] A hollow shaft 5 is installed inside the support base 1. The hollow shaft 5 is an integral hollow tubular structure with a through negative pressure cavity inside. The lower end of the hollow shaft 5 is connected to the rotary joint 4, and it passes through the center of the lower base support, upper base, turntable 2, and table surface 3 in sequence, with the top end extending into the vacuum adsorption plate 6. Multiple negative pressure ventilation holes 8 are evenly opened along the circumference of the outer wall of the top end of the hollow shaft 5. The negative pressure ventilation holes 8 are connected to the internal cavity of the hollow shaft 5, and the negative pressure airflow is evenly delivered to the vacuum adsorption plate 6 through the negative pressure ventilation holes 8. The upper section of the hollow shaft 5 is locked and fixed to the table surface 3 with bolts and rotates synchronously with the table surface 3. The lower section of the hollow shaft 5 is installed in the support base 1 through a deep groove ball bearing 7.

[0029] Specifically, the deep groove ball bearing 7 is a P4 grade precision bearing, which is integrally mounted on the outer wall of the lower section of the hollow shaft 5. The outer ring of the bearing is bolted to the inner cavity of the upper base, and the inner ring of the bearing is interference-fitted with the outer wall of the hollow shaft 5. The deep groove ball bearing 7 provides radial support and centering for the hollow shaft 5, ensuring the coaxiality of the hollow shaft 5 and offsetting the radial load generated during the polishing process. The lower end of the hollow shaft 5 is connected to the rotary joint 4, which is a standard pneumatic rotary joint arranged inside the cavity of the lower base support. The upper end of the rotary joint 4 has an external thread, which is threaded to lock with the internal thread at the lower end of the hollow shaft 5. A double-layered self-locking washer is installed between the threaded mating surfaces of the rotary joint 4 and the hollow shaft 5. During the long-term rotation and vibration of the turntable, the washer can prevent the threads from loosening and ensure that the air passage is sealed. The lower end of the rotary joint 4 is connected to a vacuum negative pressure pipeline, which serves as a fixed end air source access structure. The applicable vacuum level can reach -90kPa, meeting the negative pressure requirements of industrial polishing. The external vacuum generator is connected to the pneumatic rotary joint 4 through a vacuum pipeline, control valve assembly and vacuum filter device. The vibration generated by the vacuum generator will not be transmitted to the polishing end, ensuring the polishing quality. The upper end of the hollow shaft 5 is connected to the vacuum adsorption plate 6. Specifically, the vacuum adsorption plate 6 is locked and fixed to the upper surface of the table 3 by an expansion sleeve. A ring-shaped sealing groove is opened at the bottom of the vacuum adsorption plate 6, and an O-ring is installed in the groove to seal the contact surface between the vacuum adsorption plate 6 and the table 3 to prevent negative pressure leakage. A negative pressure chamber is opened inside the vacuum adsorption plate 6, which is connected to the negative pressure vent 8 at the top of the hollow shaft 5. The workpiece can be placed on the upper surface of the vacuum adsorption plate 6 to complete the negative pressure adsorption and fixation. The vacuum adsorption plate 6 is an independent modular part. By changing the expansion sleeve of different specifications, the adsorption plate can be quickly replaced to adapt to workpieces of different shapes and sizes.

[0030] When using this invention, the entire device is fixed to the robot workbench by the lower base support. The lower end of the rotary joint 4 is connected to a vacuum generator. Then, the workpiece to be polished is placed stably on the upper surface of the vacuum adsorption plate 6. The external vacuum generator is started, and air is drawn out through the inner cavity of the vacuum adsorption plate 6, the negative pressure vent 8 at the top of the hollow shaft 5, the inner cavity of the hollow shaft 5, and the rotary joint 4 in sequence. A negative pressure is formed inside the vacuum adsorption plate 6, and the workpiece is tightly attached to the adsorption plate under atmospheric pressure, thus completing the stable positioning and fixation.

[0031] At this time, the direct drive turntable 2 can be started simultaneously. The turntable 2 directly drives the table 3, hollow shaft 5, vacuum adsorption plate 6, and workpiece to rotate synchronously and coaxially. The robot, together with the polishing tool, completes the all-round surface polishing of the workpiece. During the entire rotation process, the pneumatic rotary joint 4 continuously maintains the connection between the dynamic and static air paths, without air leakage or jamming.

[0032] After the polishing process is completed, turn off the vacuum generator, remove the vacuum negative pressure, and directly remove the finished workpiece. If it is necessary to replace the adsorption plate or the seal, the vacuum adsorption plate 6 can be removed separately by disassembling the expansion sleeve, or the rotary joint 4 can be unscrewed to replace the sealing component without disassembling the base and the main body of the turntable.

[0033] This embodiment uses a hollow direct-drive rotary table 2. In other alternative solutions, a low-cost alternative, such as a servo motor and synchronous belt drive rotary table, can also be selected. For heavy workpieces with high torque polishing scenarios, a hollow torque direct-drive motor can be used instead. For precise angle positioning and self-locking requirements, a stepper motor + worm gear hollow rotary table can be selected.

[0034] This embodiment uses a deep groove ball bearing 7. In other alternative solutions, an angular contact ball bearing can be used instead for heavy-duty polishing conditions, which can simultaneously withstand axial and radial combined loads; a crossed roller bearing can be used instead for ultra-high precision mirror polishing scenarios, which has higher structural rigidity and better rotational accuracy.

[0035] Among other alternatives, ordinary O-ring rubber seals are used in normal working conditions, while O-ring plus retainer ring combination seals can be used in high negative pressure conditions to improve sealing reliability under high pressure and negative pressure; the internal dynamic seal of rotary joint 4 can be replaced with magnetic fluid seal to further extend the seal service life, but the disadvantage is that the equipment cost is higher.

[0036] In other alternative solutions, the integrated adsorption plate 6 of this embodiment can replace the multi-zone independent pressure-controlled adsorption plate, dividing the adsorption surface into multiple independent vacuum areas, allowing for individual control of the adsorption state of each area, and adapting to irregularly shaped curved workpieces; alternatively, a split adsorption plate can be used, replacing only the top adsorption panel while retaining the bottom sealing base, reducing the cost of spare parts replacement.

[0037] In other alternatives, the integrated hollow shaft 5 can be replaced with a split hollow shaft, with the upper and lower sections connected by a flange seal, which facilitates segmented processing and segmented maintenance.

[0038] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A robotic vacuum adsorption polishing device, characterized in that: Includes a support base, a rotating turntable assembly, a rotary joint, a hollow shaft, and a vacuum adsorption plate; The support base is mounted on the robot workbench, the rotary table assembly is mounted on the support base, the vacuum adsorption disk is mounted on the rotary table assembly, one end of the hollow shaft is connected to the air passage of the rotary joint, and the other end of the hollow shaft is connected to the air passage of the vacuum adsorption disk, so as to form a built-in vacuum negative pressure channel between the rotary joint and the vacuum adsorption disk.

2. The robotic vacuum adsorption polishing device according to claim 1, characterized in that: The support base includes a lower base support and an upper base. The lower base support is disposed on the robot workbench, and the upper base is fixedly installed above the lower base support. The rotary table assembly is disposed on the upper base. One end of the hollow shaft is located inside the lower base support, and the other end of the hollow shaft passes through the lower base support, the upper base, and the top of the rotary table assembly in sequence.

3. The robotic vacuum adsorption polishing device according to claim 2, characterized in that: It also includes a deep groove ball bearing, which is sleeved on the hollow shaft and assembled and fixed with the lower base support.

4. The robotic vacuum adsorption polishing device according to claim 1, characterized in that: The rotary table assembly includes a turntable and a table surface. The turntable is mounted on the support base, and the table surface is rotatably mounted on the turntable. The vacuum adsorption disk is mounted on the table surface. The end of the hollow shaft passes through the top of the support base, the turntable, and the table surface in sequence and communicates with the vacuum adsorption disk. The hollow shaft is fixedly connected to the table surface by bolts.

5. The robotic vacuum adsorption polishing device according to claim 4, characterized in that: The turntable is a hollow direct-drive turntable, with a hollow interior for the hollow shaft to pass through, and the motor rotor of the hollow direct-drive turntable is fixedly connected to the table surface.

6. The robotic vacuum adsorption polishing device according to claim 1, characterized in that: The rotary joint is a pneumatic rotary joint, and the rotary joint is threaded to the end of the hollow shaft.

7. The robotic vacuum adsorption polishing device according to claim 1, characterized in that: The top outer wall of the hollow shaft is provided with several negative pressure vent holes along the circumference, and the negative pressure vent holes are respectively connected to the internal cavity of the hollow shaft.

8. The robotic vacuum adsorption polishing device according to claim 1, characterized in that: The bottom of the vacuum adsorption disk is provided with an annular sealing groove, and an O-ring is installed in the annular sealing groove. The bottom of the vacuum adsorption disk is fixed to the rotary table assembly by an expansion sleeve. An O-ring is provided between the rotary table assembly and the support base. An O-ring is also provided between the hollow shaft and the rotary table assembly.

9. The robotic vacuum adsorption polishing device according to claim 1, characterized in that: A double-layered self-locking washer is provided between the rotary joint and the hollow shaft.

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